#include <thread>
#include <wrap-json.h>
#include <systemd/sd-event.h>
+#include <ctl-config.h>
#include "openxc.pb.h"
#include "application.hpp"
#include "../can/can-encoder.hpp"
#include "../can/message/j1939-message.hpp"
#include <linux/can/j1939.h>
#endif
-///******************************************************************************
+
+///*****************************************************************************
///
-/// SystemD event loop Callbacks
+/// Controller Definitions and Callbacks
///
-///*******************************************************************************/
+///****************************************************************************/
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, map_subscription& s)
+int config_low_can(afb_api_t apiHandle, CtlSectionT *section, json_object *json_obj)
{
- bool is_permanent_recurring_request = false;
-
- if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
- {
- DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
- active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
- if( adr != nullptr)
- {
- is_permanent_recurring_request = adr->get_permanent();
+ AFB_DEBUG("Config %s", json_object_to_json_string(json_obj));
+ CtlConfigT *ctrlConfig;
- if(! is_permanent_recurring_request)
- application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
- }
- }
-
- if(! is_permanent_recurring_request)
- on_no_clients(can_subscription, s);
-}
-
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, map_subscription& s)
-{
- auto it = s.find(can_subscription->get_index());
- s.erase(it);
-}
-
-static void push_n_notify(std::shared_ptr<message_t> m)
-{
- can_bus_t& cbm = application_t::instance().get_can_bus_manager();
- {
- std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
- cbm.push_new_can_message(m);
- }
- cbm.get_new_can_message_cv().notify_one();
-}
+ ctrlConfig = (CtlConfigT *) afb_api_get_userdata(apiHandle);
+ if(! ctrlConfig)
+ return -1;
-int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
-{
+ if(! ctrlConfig->external)
+ return -1;
- low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
+ application_t *application = (application_t*) ctrlConfig->external;
+ int active_message_set;
+ const char *diagnotic_bus = nullptr;
- if ((revents & EPOLLIN) != 0)
- {
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- if(can_subscription->get_index() != -1)
- {
- std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
- if(s->socket() && s->socket() != -1)
- {
- std::shared_ptr<message_t> message = s->read_message();
+ if(wrap_json_unpack(json_obj, "{si, ss}",
+ "active_message_set", &active_message_set,
+ "diagnostic_bus", &diagnotic_bus))
+ return -1;
- // Sure we got a valid CAN message ?
- if (! message->get_id() == 0 && ! message->get_length() == 0 && !(message->get_flags()&INVALID_FLAG))
- {
- push_n_notify(message);
- }
- }
- }
- }
+ application->set_active_message_set((uint8_t)active_message_set);
- // check if error or hangup
- if ((revents & (EPOLLERR | EPOLLRDHUP | EPOLLHUP)) != 0)
+ /// Initialize Diagnostic manager that will handle obd2 requests.
+ /// We pass by default the first CAN bus device to its Initialization.
+ if(! application_t::instance().get_diagnostic_manager().initialize(diagnotic_bus))
{
- sd_event_source_unref(event_source);
- can_subscription->get_socket()->close();
+ AFB_ERROR("Diagnostic Manager: error at initialization");
+ return -1;
}
return 0;
}
-///******************************************************************************
+CtlSectionT ctlSections_[] = {
+ [0]={.key="config" , .uid="config", .info=nullptr,
+ .loadCB=config_low_can,
+ .handle=nullptr,
+ .actions=nullptr},
+ [1]={.key="plugins" , .uid="plugins", .info=nullptr,
+ .loadCB=PluginConfig,
+ .handle=nullptr,
+ .actions=nullptr},
+};
+
+///*****************************************************************************
///
/// Subscription and unsubscription
///
-///*******************************************************************************/
+///****************************************************************************/
/// @brief This will determine if an event handle needs to be created and checks if
/// we got a valid afb_event to get subscribe or unsubscribe. After that launch the subscription or unsubscription
// poll a PID for nothing.
if(sig->get_supported() && subscribe)
{
- if (!app.isEngineOn())
+ if (!app.is_engine_on())
AFB_WARNING("signal: Engine is off, %s won't received responses until it's on", sig->get_name().c_str());
diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency, perm_rec_diag_req);
return ret;
}
-static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id ,json_object *args)
+static int one_subscribe_unsubscribe_id(afb_req_t request, bool subscribe, const uint32_t& id, json_object *args)
{
int ret = 0;
std::shared_ptr<message_definition_t> message_definition = application_t::instance().get_message_definition(id);
struct utils::signals_found sf;
if(message_definition)
- sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(),message_definition->get_signals().end());
+ sf.signals = list_ptr_signal_t(message_definition->get_signals().begin(), message_definition->get_signals().end());
if(sf.signals.empty())
{
static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message,
- struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
+ struct json_object *can_data, uint32_t flags, event_filter_t &event_filter)
{
struct utils::signals_found sf;
if( !sf.signals.empty() )
{
- AFB_DEBUG("ID WRITE RAW : %d",sf.signals.front()->get_message()->get_id());
+ AFB_DEBUG("ID WRITE RAW : %d", sf.signals.front()->get_message()->get_id());
if(flags & BCM_PROTOCOL)
{
if(sf.signals.front()->get_message()->is_fd())
static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value, event_filter_t &event_filter)
{
message_t *message;
- int id;
- int length;
+ uint32_t id;
+ uint32_t length;
struct json_object *can_data = nullptr;
std::vector<uint8_t> data;
- AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
+ AFB_DEBUG("JSON content %s", json_object_get_string(json_value));
if(!wrap_json_unpack(json_value, "{si, si, so !}",
"can_id", &id,
"can_dlc", &length,
"can_data", &can_data))
{
- message = new can_message_t(0,(uint32_t)id,(uint32_t)length,false,0,data,0);
- write_raw_frame(request,bus_name,message,can_data,BCM_PROTOCOL,event_filter);
+ message = new can_message_t(0, id, length, false, 0, data, 0);
+ write_raw_frame(request, bus_name, message, can_data, BCM_PROTOCOL, event_filter);
}
#ifdef USE_FEATURE_J1939
else if(!wrap_json_unpack(json_value, "{si, si, so !}",
"length", &length,
"data", &can_data))
{
- message = new j1939_message_t((uint32_t)length,data,0,J1939_NO_NAME,(pgn_t)id,J1939_NO_ADDR);
- write_raw_frame(request,bus_name,message,can_data,J1939_PROTOCOL, event_filter);
+ message = new j1939_message_t(length, data, 0, J1939_NO_NAME, (pgn_t)id, J1939_NO_ADDR);
+ write_raw_frame(request, bus_name, message, can_data, J1939_PROTOCOL, event_filter);
}
#endif
else
flags = BCM_PROTOCOL;
// cfd = encoder_t::build_frame(sig, value);
- message_t *message = encoder_t::build_message(sig,value,false,false);
+ message_t *message = encoder_t::build_message(sig, value, false, false);
if(! send_message(message, sig->get_message()->get_bus_device_name(), flags, event_filter, sig) && send)
afb_req_success(request, nullptr, "Message correctly sent");
application_t& application = application_t::instance();
can_bus_t& can_bus_manager = application.get_can_bus_manager();
+ if(application.get_message_set().empty())
+ {
+ AFB_ERROR("No message_set defined");
+ return -1;
+ }
+
+
can_bus_manager.set_can_devices();
can_bus_manager.start_threads();
utils::signals_manager_t& sm = utils::signals_manager_t::instance();
- /// Initialize Diagnostic manager that will handle obd2 requests.
- /// We pass by default the first CAN bus device to its Initialization.
- /// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
- if(application_t::instance().get_diagnostic_manager().initialize())
- ret = 0;
-
// Add a recurring dignostic message request to get engine speed at all times.
openxc_DynamicField search_key = build_DynamicField("diagnostic_messages.engine.speed");
struct utils::signals_found sf = sm.find_signals(search_key);
application.set_subscription_address_claiming(low_can_j1939);
ret = low_can_subscription_t::open_socket(*low_can_j1939,
- j1939_bus,
- J1939_ADDR_CLAIM_PROTOCOL);
+ j1939_bus,
+ J1939_ADDR_CLAIM_PROTOCOL);
if(ret < 0)
{
return ret;
}
+
+int load_config(afb_api_t api)
+{
+ int ret = 0;
+ CtlConfigT *ctlConfig;
+ const char *dirList = getenv("CONTROL_CONFIG_PATH");
+ std::string bindingDirPath = GetBindingDirPath(api);
+ std::string filepath = bindingDirPath + "/etc";
+
+ if (!dirList)
+ dirList=CONTROL_CONFIG_PATH;
+
+ filepath.append(":");
+ filepath.append(dirList);
+ const char *configPath = CtlConfigSearch(api, filepath.c_str(), "control");
+
+ if (!configPath)
+ {
+ AFB_ERROR_V3("CtlPreInit: No control-* config found invalid JSON %s ", filepath.c_str());
+ return -1;
+ }
+
+ // create one API per file
+ ctlConfig = CtlLoadMetaData(api, configPath);
+ if (!ctlConfig)
+ {
+ AFB_ERROR_V3("CtrlPreInit No valid control config file in:\n-- %s", configPath);
+ return -1;
+ }
+
+ // Save the config in the api userdata field
+ afb_api_set_userdata(api, ctlConfig);
+
+ setExternalData(ctlConfig, (void*) &application_t::instance());
+ ret= CtlLoadSections(api, ctlConfig, ctlSections_);
+
+ return ret;
+}
Code Review / apps / agl-service-can-low-level.git / blobdiff